version: 66.04
glider: 103
mission: 11
dive: 16
start: 2 25 109 8 41 43
data:
$ID,103
$MISSION,11
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-143286.92
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,082925,6115.220,-919.839,52,1.4,52,-9.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-54.2
$GPS2,084052,6115.233,-919.518,16,2.9,35,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.140,0.221
$KALMAN_X,-6854.5,183.6,112.2,15278.8,-457.6
$KALMAN_Y,-36007.6,990.6,951.6,41417.6,-11180.5
$MHEAD_RNG_PITCHd_Wd,41.7,28875,-18.2,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.70,-146.6,0.0,0.0,0,79,0.00,0.00,-61.45,0.000,2,0.000,0.000,50,2750,3467
$GC,82,-1.70,-146.6,5.1,-9.9,3,104,11.50,2.65,-0.47,0.000,4,0.163,0.073,2061,1342,3502
$GC,358,-1.70,-146.6,51.8,-13.2,15,362,0.00,2.67,0.00,0.000,6,0.000,0.072,2061,2759,3502
$GC,679,-1.70,-146.6,95.8,-15.4,31,683,0.00,2.65,0.00,0.000,4,0.000,0.069,2061,1339,3502
$GC,745,-1.70,-146.6,104.5,-11.6,34,750,0.00,2.67,0.00,0.000,6,0.000,0.073,2061,2754,3503
$GC,1067,-1.70,-146.6,139.9,-10.9,50,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2754,3502
$GC,1376,-1.70,-146.6,173.5,-11.5,65,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2754,3502
$GC,1685,-1.70,-146.6,212.6,-13.0,80,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2754,3502
$GC,1994,-1.70,-146.6,253.0,-13.0,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2755,3502
$GC,2304,-1.70,-146.6,291.7,-12.4,110,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2755,3502
$GC,2613,-1.70,-146.6,330.2,-12.4,125,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2755,3502
$GC,2922,-1.70,-146.6,366.5,-11.8,140,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2754,3502
$GC,3231,-1.70,-146.6,402.8,-11.7,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2755,3502
$GC,3541,-1.70,-146.6,439.7,-11.5,170,3545,0.00,2.62,0.00,0.000,4,0.000,0.067,2061,1330,3502
$GC,3574,-1.70,-146.6,443.6,-11.2,171,3580,0.00,2.67,0.00,0.000,6,0.000,0.069,2061,2760,3502
$GC,3891,-1.70,-146.6,481.3,-12.2,187,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2760,3502
$STATE,4052,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4052,begin apogee
$GC,4061,-0.42,0.0,501.2,11.8,195,4186,1.45,0.00,120.88,1.038,6,0.105,0.000,2345,1704,2902
$STATE,4187,end apogee,CONTROL_FINISHED_OK
$STATE,4187,begin climb
$GC,4190,1.70,146.6,506.7,0.0,201,4319,2.15,2.65,119.88,1.015,4,0.059,0.058,2812,290,2304
$GC,4356,1.84,262.0,506.4,4.7,209,4460,0.12,2.50,95.22,0.999,6,0.048,0.033,2846,1739,1833
$GC,4769,1.84,262.0,458.9,12.1,229,4773,0.00,2.67,0.00,0.000,4,0.000,0.059,2846,287,1833
$GC,4847,1.84,262.0,448.2,13.4,232,4853,0.00,2.42,0.00,0.000,6,0.000,0.034,2847,1683,1832
$GC,5162,1.84,262.0,408.2,12.5,248,5167,0.00,2.55,0.00,0.000,4,0.000,0.058,2846,290,1833
$GC,5241,1.84,262.0,398.1,12.5,251,5247,0.00,2.45,0.00,0.000,6,0.000,0.034,2846,1702,1833
$GC,5556,1.84,262.0,359.6,12.5,267,5561,0.00,2.58,0.00,0.000,4,0.000,0.058,2846,290,1832
$GC,5709,1.84,262.0,338.4,13.8,274,5713,0.00,2.47,0.00,0.000,6,0.000,0.035,2847,1708,1833
$GC,6035,1.84,262.0,295.9,13.0,290,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1708,1833
$GC,6344,1.84,262.0,256.3,12.6,305,6349,0.00,2.60,0.00,0.000,4,0.000,0.058,2847,290,1832
$GC,6395,1.84,262.0,249.2,14.1,307,6399,0.00,2.47,0.00,0.000,6,0.000,0.036,2847,1708,1832
$GC,6710,1.84,262.0,210.0,12.6,322,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1708,1832
$GC,7020,1.84,262.0,172.6,11.8,337,7024,0.00,2.60,0.00,0.000,4,0.000,0.058,2846,290,1832
$GC,7086,1.84,262.0,163.8,13.1,340,7090,0.00,2.47,0.00,0.000,6,0.000,0.035,2847,1711,1832
$GC,7407,1.84,262.0,124.6,12.2,356,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1711,1832
$GC,7717,1.84,262.0,90.0,10.5,371,7721,0.00,2.62,0.00,0.000,4,0.000,0.060,2847,284,1832
$GC,7805,1.84,262.0,80.3,13.4,375,7810,0.00,2.47,0.00,0.000,6,0.000,0.036,2847,1704,1832
$GC,8128,1.84,264.8,46.9,9.9,391,8137,0.00,2.62,3.85,0.560,4,0.000,0.058,2846,296,1822
$GC,8244,1.84,264.8,29.6,14.3,396,8248,0.00,2.45,0.00,0.000,6,0.000,0.036,2847,1697,1822
$STATE,8459,end climb,SURFACE_DEPTH_REACHED
$STATE,8459,begin surface coast
$FINISH,0.3,1.014446
$STATE,8483,end surface coast,CONTROL_FINISHED_OK
$STATE,8483,begin surface
$SM_CCo,8509,23.60,0.726,0,0,1679,300.00
$SM_GC,0.83,0.00,0.00,23.60,0.000,0.000,0.726,52,2748,1679,-10.98,-0.06,300.00
$IRIDIUM_FIX,6050.49,-916.72,220598,080837
$TT8_MAMPS,0.029146
$HUMID,1755
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.3,34.8
$24V_AH,23.4,12.443
$10V_AH,10.1,5.463
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.775,60.525,339.825,23.600,0.000,91.381,82.609,254.197,3.750,0.000,0.000,36.638,764.230,6439.189,421.603,1000.135,605.561,33.352,928.978,0.000,950.624,0.000,27.492,0.000
$DEVICE_MAMPS,163.371,72.865,1037.751,726.349,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.990,291.625,300.016,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19092,408
$CAP_FILE_SIZE,66824,0
$CFSIZE,260165632,256708608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,110507,6116.503,-915.554,30,1.9,30,-9.3